The design of a tracking control system for robot mobile platform based on ARM

This paper proposes a control system design for a visual tracking robot mobile platform based on ARM platform. The system uses STM32F103ZET6 as the central controller and the OV7725 camera as the visual sensor to collect the image information. The 520 DC motor and encoder are used to form a closed loop to control the speed and steering of the platform. Lora wireless module is used to design the remote control terminal to realize the remote control of the platform and obtain the speed, position, and other information. The STM32F103ZET6 performs data acquisition of the image through the OV7725 camera module, which first converts the image data into gray values of pixels to achieve route identification and image binarization, then extracts the route center coordinates, identifies the effective trajectory area, and obtains the angular deviation of the camera's current position from the desired direction through image processing and linear fitting to the midpoint of the road, and then uses a kinematic formula to determine the two-wheel speed required to achieve the specific angular deviation.